unique_ptr::reset() requires the complete type for its deleter, but
IKCSolver is only forward-declared in AssemblyObject.h. Move the
definition to AssemblyObject.cpp where the full header is included.
Phase 3a of the solver server integration: add dict/JSON serialization
to all KCSolve pybind11 types so SolveContext and SolveResult can be
transported as JSON between the Create client, Silo server, and solver
runners.
Implementation:
- Constexpr enum string mapping tables for all 5 enums (BaseJointKind,
SolveStatus, DiagnosticKind, MotionKind, LimitKind) with template
bidirectional lookup helpers
- File-local to_dict/from_dict conversion functions for all 10 types
(Transform, Part, Constraint::Limit, Constraint, MotionDef,
SimulationParams, SolveContext, ConstraintDiagnostic,
SolveResult::PartResult, SolveResult)
- .def("to_dict") and .def_static("from_dict") on every py::class_<>
binding chain
Serialization details per SOLVER.md §3:
- SolveContext.to_dict() includes api_version field
- SolveContext.from_dict() validates api_version, raises ValueError on
mismatch
- Enums serialize as strings matching pybind11 .value() names
- Transform: {position: [x,y,z], quaternion: [w,x,y,z]}
- Optional simulation serializes as None/null
- Pure pybind11 py::dict construction, no new dependencies
Tests: 16 new tests in TestKCSolveSerialization covering round-trips for
all types, all 24 BaseJointKind values, all 4 SolveStatus values,
json.dumps/loads stdlib round-trip, and error cases (missing key,
invalid enum, bad array length, wrong api_version).
Add the kcsolve pybind11 module exposing the KCSolve C++ API to Python:
- PyIKCSolver trampoline enabling Python IKCSolver subclasses
- Bindings for all 5 enums, 10 structs, IKCSolver, and OndselAdapter
- Module functions wrapping SolverRegistry (available, load, joints_for,
set_default, get_default, register_solver)
- PySolverHolder class forwarding virtual calls with GIL acquisition
- register_solver() for runtime Python solver registration
IKCSolver constructor moved from protected to public for pybind11
trampoline access (class remains abstract via 3 pure virtuals).
Includes 16 Python tests covering module import, type bindings, enum
values, registry functions, Python solver subclassing, and full
register/load/solve round-trip.
Closes#288
Rewire AssemblyObject to call through KCSolve::IKCSolver instead of
directly manipulating OndselSolver ASMT types.
Key changes:
- Remove all 30+ #include <OndselSolver/*> from AssemblyObject.cpp
- Remove MbDPartData, objectPartMap, mbdAssembly members
- Add solver_ (IKCSolver), lastResult_ (SolveResult), partIdToObjs_ maps
- New buildSolveContext() builds SolveContext from FreeCAD document objects
with JointType/DistanceType -> BaseJointKind decomposition
- New computeMarkerTransform() replaces handleOneSideOfJoint()
- New computeRackPinionMarkers() replaces getRackPinionMarkers()
- Rewrite solve/preDrag/doDragStep/postDrag/generateSimulation to call
through IKCSolver interface
- Rewrite setNewPlacements/validateNewPlacements to use SolveResult
- Rewrite updateSolveStatus to use ConstraintDiagnostic
- Add export_native() to IKCSolver for ASMT export support
- Register OndselAdapter at Assembly module init in AppAssembly.cpp
- Remove OndselSolver from Assembly_LIBS (linked transitively via KCSolve)
Assembly module now has zero OndselSolver includes. All solver coupling
is confined to KCSolve/OndselAdapter.cpp.
Phase 1b of the pluggable solver system. Converts KCSolve from a
header-only INTERFACE target to a SHARED library and implements
the SolverRegistry with dynamic plugin discovery.
Changes:
- Add KCSolveGlobal.h export macro header (KCSolveExport)
- Move SolverRegistry method bodies from header to SolverRegistry.cpp
- Implement scan() with dlopen/LoadLibrary plugin loading
- Add scan_default_paths() for KCSOLVE_PLUGIN_PATH + system paths
- Plugin entry points: kcsolve_api_version() + kcsolve_create()
- API version checking (major version compatibility)
- Convert CMakeLists.txt from INTERFACE to SHARED library
- Link FreeCADBase (PRIVATE) for Console logging
- Link dl on POSIX for dynamic loading
- Fix -Wmissing-field-initializers warnings in IKCSolver.h defaults
The registry discovers plugins by scanning directories for shared
libraries that export the kcsolve C entry points. Plugins are
validated for API version compatibility before registration.
Manual registration via register_solver() remains available for
built-in solvers (e.g. OndselAdapter in Phase 1c).
Add the pluggable solver API as header-only files under
src/Mod/Assembly/Solver/. This is Phase 1a of the pluggable solver
system (INTER_SOLVER.md).
New files:
- Types.h: BaseJointKind enum (24 decomposed constraint types),
Transform, Part, Constraint, SolveContext, SolveResult, and
supporting types. Uses standalone types (no FreeCAD dependency)
for future server worker compatibility.
- IKCSolver.h: Abstract solver interface with solve(), drag protocol
(pre_drag/drag_step/post_drag), kinematic simulation
(run_kinematic/num_frames/update_for_frame), and diagnostics.
Only solve(), name(), and supported_joints() are pure virtual;
all other methods have default implementations.
- SolverRegistry.h: Thread-safe singleton registry for solver
backends with factory-based registration and default solver
selection.
- CMakeLists.txt: INTERFACE library target (header-only for now).
Modified:
- Assembly/CMakeLists.txt: add_subdirectory(Solver)
- Assembly/App/CMakeLists.txt: link KCSolve INTERFACE target
During document restore, PropertyLinkList::Restore sets the Group property
on AssemblyObject, triggering onChanged → updateSolveStatus → solve →
validateNewPlacements. At this point joints reference objects that haven't
been restored yet, causing a null pointer dereference (SIGSEGV).
Add an isRestoring() guard to skip solver invocation during restore,
matching the existing pattern in AssemblyLink::onChanged().
Adds push_dag() and get_dag() to SiloClient:
- push_dag: PUT /api/items/{pn}/dag with nodes + edges
- get_dag: GET /api/items/{pn}/dag with optional revision filter
Closes#215
When the silo workbench is loaded, Insert Component now opens the
Silo part browser (OpenItemWidget) instead of the OS file dialog.
Users can search both the Silo database and local files to find
components to insert.
Falls back to the OS file dialog if silo-mod is not installed.
Also adds .kc file support to the fallback file dialog filter.
Closes#202
* Assembly: Isolate grounded objects on selection
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* Update ViewProviderAssembly.cpp
* Update ViewProviderAssembly.cpp
---------
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Chris Hennes <chennes@pioneerlibrarysystem.org>
* Assembly: Insert flexible assembly grounds the correct part
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* Assembly: Migrate ObjectToGround to PropertyLinkGlobal to support assembly links
* Update JointObject.py
* Assembly: ViewProviderAssembly fix assembly link deletion issue
* Assembly: ViewProviderAssembly: make sure no duplicates in canDelete
* Assembly CommandInsertLink fix typo
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
---------
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* Assembly: Change Joint References to remove cyclic dependency.
* Update JointObject.py
* Update TestCore.py
* Update JointObject.py
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* Update AssemblyUtils.cpp
* Update UtilsAssembly.py
* Update JointObject.py
* small fix for link groups
---------
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Fix "Activating a body in a part in an assembly deactivates the assembly and activate the part"
Fix "A manually deactivated assembly is still restoring later"
